CN103925350A - Multi-gear dynamic asymptotic meshing synchronous driving device based on electric servos - Google Patents
Multi-gear dynamic asymptotic meshing synchronous driving device based on electric servos Download PDFInfo
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- CN103925350A CN103925350A CN201310138380.0A CN201310138380A CN103925350A CN 103925350 A CN103925350 A CN 103925350A CN 201310138380 A CN201310138380 A CN 201310138380A CN 103925350 A CN103925350 A CN 103925350A
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- gear
- master gear
- asymptotic
- actuating motor
- fixed plate
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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Abstract
The invention discloses a multi-gear dynamic asymptotic meshing synchronous driving device based on electric servos and aims to solve the problems that the existing devices are complex in structure and high in manufacturing cost. The multi-gear dynamic asymptotic meshing synchronous driving device is characterized in that a fixed plate and a base plate are fixedly integrally connected; a movable plate is fixedly integrally connected with an LM slider of a ball screw pair, two servo motors are mounted on the fixed plate and the movable plate respectively, and the spindles of the servo motors serve as driving shafts for operation of main gears and are coaxially connected with main gear central holes through reduction gearboxes; loading gears meet conditions for being meshed with corresponding main gears and are externally meshed with the main gears respectively; high-precision encoders are coupled with the driving shafts of the corresponding main gears through adjustment seats and elastic couplings respectively, and the adjusting seats are fixedly mounted on the fixed plate and the movable plate respectively. The multi-gear dynamic asymptotic meshing synchronous driving device is simple in structure, easy to maintain and high in openness. In addition, the driving device can evidently increase equipment synchronization precision under a high-speed operation state, and a synchronous motion system can be conveniently applied to the field of engineering practice.
Description
Technical field
The present invention relates to the dynamic asymptotic engagement synchronous drive device of a kind of multi-gear, particularly a kind of based on the dynamic asymptotic engagement synchronous drive device of the servo multi-gear of electricity.
Background technique
Electricity servo synchronous driving system has been widely used in the manufacture process of flexible product, to guarantee manufacturing equipment, export constant speed and constant rate of tension, as in the industries such as plastics, printing, packing and papermaking, require that the travel line speed of machined object when each several part transmits such as cloth paper are acted in agreement, constant tension.Electricity servo synchronous driving system is also applied in the equipment of heavy load, long span simultaneously, to increase equipment rigidity, to dwindle overall dimension, as systems such as track pulls, gantry equipment, automatic lifting.If this type systematic is used single drive form, for guaranteeing enough output powers, can therefore increase the physical dimension of drive system; If adopt multi-drive form synchronous coordination transmission system, not only can drive heavy load by smaller power, and can also prevent that driving element is because being subject to the force unbalance distortion that twists.In addition, adopt the servo synchronized drive technology of electricity of multi-drive form, can form redundancy structure, avoid causing the interruption of producing because of certain driver malfunction.
Servo synchronous driving system is just towards high-performance, high-speed, digitizing, intelligent direction development.In synchro system, the synchronous coordination relation between motor directly affects the reliability and stability of system, so the synchronized Coordinative Control of multi-motors drive system has very important realistic meaning and use value.As patent No. CN201010561475.X(notice of authorization CN101984553A, March 9 2011 notice of authorization day) the many motor synchronous system that disclose voltage vector system of selection and set up according to the method, this system adopts voltage vector system of selection, can solve well the synchronization control performance of multi-machine system and the problem of fast-response control performance.Adopt a controller to realize the many motors synchronization control based on Study on direct torque control technology.For realizing the synchronization control of this system, the step that need to comprise has: the synchronization error, detection stator magnetic linkage error, detected electrons torque error, detection sector, magnetic linkage place, the design voltage vector switch table that detect many motor operations.This system is applicable at a high speed, in highi degree of accuracy occasion, but complex structure, manufacture cost are high.And for example patent No. CN201210178138.1(authorizes publication number CN102673365A, September 19 2012 notice of authorization day) driving system of hybrid power electric vehicle that adopts toothed belt transmission is disclosed, this system adopts the setting type distributing, more flexible than motor centralized arrangement, save installing space, and can realize full wheel drive, front-wheel drive, the multiple driving control mode such as rear wheel drive, vehicle performance is good, be conducive to reduce automobile unsprung weight, cost is low, high-performance, and very applicable traditional vehicle is to the repacking of new-energy automobile, because only need install two groups of independent controls additional for trailing wheel, and the wheel limit electric drive system by Timing Belt gearing down.But two synchronous machines of this system and load, by Timing Belt transferring power, do not propose too high request to synchronism, can only be used in specific occasion, limit its use on rigid construction.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of based on the dynamic asymptotic engagement synchronous drive device of the servo multi-gear of electricity.
The technological scheme that apparatus of the present invention adopt is:
The present invention is a kind of based on the dynamic asymptotic engagement synchronous drive device of the servo multi-gear of electricity, comprises the first actuating motor, the second actuating motor, the first speed reducer, the second speed reducer, the first load gear, the second load gear, the first master gear, the second master gear, the first high-precision encoder, the second high-precision encoder, the first adjusting seat, the second adjusting seat, fixed plate, shifting board, substrate, rotating spanner, ball screw, linear rail and LM slide block;
Described substrate is fixed on ground by stone bolt, the ball wire bar pair transmission module that formed by ball screw, linear rail, LM slide block and rotating spanner of fixed installation on substrate, and fixed plate and described substrate are solidly fixed; The LM slide block of shifting board and described ball wire bar pair transmission module is solidly fixed, and the first actuating motor is fixedly mounted on described fixed plate; The second actuating motor is fixedly mounted on described shifting board; The first described actuating motor is coaxially connected with the first master gear center hole by the first speed reducer as the live axle of the first master gear running, the main shaft of the second actuating motor, as the live axle of the second master gear running, is coaxially connected with the second master gear center hole by the second speed reducer.The first load gear and the second load gear meet respectively the meshing condition with the first master gear and the second master gear, the first high-precision encoder is coupled by the live axle of the first adjusting seat and the first master gear, the second high-precision encoder is coupled by the live axle of the second adjusting seat and the second master gear, and described the first adjusting seat and the second adjusting seat are fixedly mounted on respectively on fixed plate and shifting board.
Beneficial effect of the present invention: the present invention can be used as synchronous driving and controls Laboratory Furniture, for the research of electric servo synchronous driving system performance and the design of control strategy; The present invention is simple in structure, is easy to safeguard, high open, can carry out at any time circumferential expansion and be combined into other more ASs according to actual conditions, so that the research of the modeling and simulation of related system; The present invention can significantly improve the synchronization accuracy of equipment under high speed operation state, to simultaneous movement system is applied in actual engineering field.
Accompanying drawing explanation
Fig. 1 is a kind of enforcement structural representation of the present invention, and left and right two figure are respectively gear separation and mesh schematic representation;
Fig. 2 is system reference point schematic diagram of the present invention;
Fig. 3 is system logic graph of a relation of the present invention (system control principle drawing).
Embodiment
Below in conjunction with accompanying drawing, the present invention is carried out to detailed description.
As shown in Figure 1, the present invention is a kind of based on the dynamic asymptotic engagement synchronous drive device of the servo multi-gear of electricity, comprises the first actuating motor 1, the second actuating motor 19, the first speed reducer 2, the second speed reducer 13, the first load gear 3, the second load gear 12, the first master gear 4, the second master gear 11, the first high-precision encoder 5, the second high-precision encoder 9, the first adjusting seat 6, the second adjusting seat 10, fixed plate 7, shifting board 8, substrate 14, rotating spanner 15, ball screw 16, linear rail 17 and LM slide block 18;
Described substrate 14 is fixed on ground by stone bolt, the ball wire bar pair transmission module that on substrate 14, fixed installation is comprised of ball screw 16, linear rail 17, LM slide block 18 and rotating spanner 15, and fixed plate 7 is solidly fixed with described substrate 14; Shifting board 8 is solidly fixed with the LM slide block 18 of described ball wire bar pair transmission module, and the first actuating motor 1 is fixedly mounted on described fixed plate 7; The second actuating motor 19 is fixedly mounted on described shifting board 8; The first described actuating motor 1 is coaxially connected with the first master gear 4 center holes by the first speed reducer 2 as the live axle of the first master gear 4 runnings, the main shaft of the second actuating motor 19, as the live axle of the second master gear 11 runnings, is coaxially connected with the second master gear 11 center holes by the second speed reducer 13.The first load gear 3 and the second load gear 12 meet respectively the meshing condition with the first master gear 4 and the second master gear 11, the first high-precision encoder 5 is coupled by the live axle of the first adjusting seat 6 and the first master gear 4, the second high-precision encoder 9 is coupled by the live axle of the second adjusting seat 10 and the second master gear 11, and described the first adjusting seat 6 and the second adjusting seat 10 are fixedly mounted on respectively on fixed plate 7 and shifting board 8.
The first actuating motor 1 and the second actuating motor 19 drive master gear 4 and 11 by the first speed reducer 2 and the second speed reducer 13 respectively; After master gear running, can increase or removal load gear 3 and 12 according to actual requirement; The large I of two described load gear loads is independently adjusted respectively; Slowly rotating spanner 15, completes the dynamic asymptotic engagement action of master gear 4 and 11; High-precision encoder 5 and 9 A, the pulse of B phase, be respectively used to the rotation information of high frequency sampling master gear 4 and 11, and the pulse of Z phase provides an initial zero signal, for reference point, locates.
As shown in Figure 2, after master gear 4 and 11 correct engagement, high-precision encoder is now exported the pulse of a Z phase, as the reference point of master gear, represents zero-bit reference bit.Z phase reference point 1 is the reference point of the first master gear 4, and Z phase reference point 2 is the reference point of the second master gear 11.
ω 1 (t),
ω 2 (t)be respectively the actual angular speed of master gear 4 and 11.
θit is the original deflection angle of two gear Z phase reference points.When the system of setting up departments starts, the deviation angle of gear reality is
θ 1 .When meeting
θ 1 =
θ+ (
n* 360/
z) time, gear energy correct engagement; Otherwise control module is carried out the synchronized Coordinative Control to the rotating speed of actuating motor, until the angular dependence of two gears meets
θ 1 representation
θ 1 =
θ+ (
n* 360/
z).Wherein
zfor the number of teeth of gear,
nfor being less than gear
zinteger.
As shown in Figure 3, central control unit 20, data collecting card composition control module, described central control unit 20 is integrated with the control strategy being comprised of synchronization control algorithm, reference point locating function.The signal high precision positioning control actuating motor that the coder module that the first servo driver 21 and the second servo driver 22 carry by the first actuating motor 1 and the second actuating motor 19 is respectively fed back, and obtain torque information.Described servo driver is connected with power end and the encoder feedback end of described actuating motor by threephase cable and nine core shielded cables respectively.The signal output part of the first high-precision encoder 5 and the second high-precision encoder 9 is connected with control module, and its A, B, Z phase high-speed pulse output signal are connected with the high-speed counting mouth of control module by shielded cable.The feedback signal of control module based on high-precision encoder coordinates to control the master reference point of actuating motor, navigation system.
Control module is the Z phase signals based on feeding back first, analyzes the actual deviation angle of gear, and revises, and makes gear deviation angle meet relation
θ 1 =
θ+ (
n* 360/
z).When meeting relation
θ 1 =
θ+ (
n* 360/
z) and master gear when separated, system is divided into not bringing onto load gear and two kinds of situations of bringing onto load gear.
Specific works process in bringing onto load gear situation not: the target velocity of central control unit 20 output systems
ω;
ωthrough the synchronized algorithm of control strategy, the set angle speed of output the first master gear 4 and the second master gear 11
ω 1and
ω 2;
ω 1,
ω 2through AD conversion, output the first high-speed pulse and the second high-speed pulse, be respectively used to drive two actuating motors 1 and 19; Because of the impact of the factors such as gear clearance, load, high-precision encoder sampling obtains two different state signals, and is passed to data collecting card; Data collecting card, to feed back two high frequency samplings of state signal and analysing and processing, obtains the actual motion speed of two gears
ω 1 (t)with
ω 2 (t), the displacement difference between master gear
Δ S; Control module is based on synchronization control algorithm, right
Δ S,
ωcarry out Accurate Analysis processing, then by the set angle speed of central control unit output gear
ω 1with
ω 2;
ω 1with
ω 2through AD conversion, control two actuating motors 1 and 19 again, thereby accurately coordinate in real time the action of two master gears.
Utilize upper-position unit to monitor both synchronous operation state, if the synchronization error of two master gears
Δ Sin allowed band, can the situation of safe engagement under, now slow rotating spanner 15 just, makes master gear 11 slowly near master gear 4, completes the dynamic asymptotic engagement process of two gears in bringing onto load situation not; If upper-position unit shows that the synchronization error of gear is larger, shutdown system, adjusts each parameter, as reduced rotating speed, change control strategy and adjusting drive parameter.Again start system, repeated above-mentioned steps.
Specific works process in bringing onto load situation: similar with not load-carrying working procedure, different is to have increased by two load gears 3 and 12, described load gear 3 and 12 meshes with master gear 4 and 11 respectively.During system operation, first make the load of two load gears equate, observe its net synchronization capability.When meeting while synchronously requiring, just slowly rotating spanner 15 is realized the dynamic engagement action of two master gears 1 and 19.When synchronization error is larger, adjust each parameter, repeat this step.After completing phase even load synchronous, just regulate two load gears respectively, make two loads unequal, and it is poor to increase gradually both load, observes its net synchronization capability, the dynamic asymptotic engagement action when finally realizing two master gears and driving different loads.
Claims (1)
1. based on the dynamic asymptotic engagement synchronous drive device of the servo multi-gear of electricity, comprise the first actuating motor, the second actuating motor, the first speed reducer, the second speed reducer, the first load gear, the second load gear, the first master gear, the second master gear, the first high-precision encoder, the second high-precision encoder, the first adjusting seat, the second adjusting seat, fixed plate, shifting board, substrate, rotating spanner, ball screw, linear rail and LM slide block;
It is characterized in that: described substrate is fixed on ground by stone bolt, the ball wire bar pair transmission module that formed by ball screw, linear rail, LM slide block and rotating spanner of fixed installation on substrate, fixed plate and described substrate are solidly fixed; The LM slide block of shifting board and described ball wire bar pair transmission module is solidly fixed, and the first actuating motor is fixedly mounted on described fixed plate; The second actuating motor is fixedly mounted on described shifting board; The first described actuating motor is coaxially connected with the first master gear center hole by the first speed reducer as the live axle of the first master gear running, the main shaft of the second actuating motor, as the live axle of the second master gear running, is coaxially connected with the second master gear center hole by the second speed reducer; The first load gear and the second load gear meet respectively the meshing condition with the first master gear and the second master gear, the first high-precision encoder is coupled by the live axle of the first adjusting seat and the first master gear, the second high-precision encoder is coupled by the live axle of the second adjusting seat and the second master gear, and described the first adjusting seat and the second adjusting seat are fixedly mounted on respectively on fixed plate and shifting board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310138380.0A CN103925350B (en) | 2013-04-19 | 2013-04-19 | A kind of based on the electricity dynamic asymptotic engagement synchronous drive device of servo multi-gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310138380.0A CN103925350B (en) | 2013-04-19 | 2013-04-19 | A kind of based on the electricity dynamic asymptotic engagement synchronous drive device of servo multi-gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103925350A true CN103925350A (en) | 2014-07-16 |
| CN103925350B CN103925350B (en) | 2016-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310138380.0A Expired - Fee Related CN103925350B (en) | 2013-04-19 | 2013-04-19 | A kind of based on the electricity dynamic asymptotic engagement synchronous drive device of servo multi-gear |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105162470A (en) * | 2015-07-29 | 2015-12-16 | 中工科安科技有限公司 | Encoder signal digital secure transmission device and transmission method thereof |
| CN112776344A (en) * | 2020-12-31 | 2021-05-11 | 天津镭明激光科技有限公司 | Molding shaft double-drive structure debugging control system of additive manufacturing equipment and control method thereof |
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| US5435166A (en) * | 1991-07-01 | 1995-07-25 | Kabushiki Kaisha Komatsu Seisakusho | Die cushion device for press |
| CN200974184Y (en) * | 2006-09-28 | 2007-11-14 | 刘学贵 | Numeric control crankshaft grinder left-right headstock synchronous servo turning gear |
| CN101314168A (en) * | 2008-04-24 | 2008-12-03 | 中国重型机械研究院 | Servo turning feeding in continuous material feeding arrangement system of cold pilger mill |
| CN203202152U (en) * | 2013-04-19 | 2013-09-18 | 杭州电子科技大学 | Multi-gear dynamic asymptotic meshing synchronous driving device based on electric servo |
-
2013
- 2013-04-19 CN CN201310138380.0A patent/CN103925350B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5435166A (en) * | 1991-07-01 | 1995-07-25 | Kabushiki Kaisha Komatsu Seisakusho | Die cushion device for press |
| CN200974184Y (en) * | 2006-09-28 | 2007-11-14 | 刘学贵 | Numeric control crankshaft grinder left-right headstock synchronous servo turning gear |
| CN101314168A (en) * | 2008-04-24 | 2008-12-03 | 中国重型机械研究院 | Servo turning feeding in continuous material feeding arrangement system of cold pilger mill |
| CN203202152U (en) * | 2013-04-19 | 2013-09-18 | 杭州电子科技大学 | Multi-gear dynamic asymptotic meshing synchronous driving device based on electric servo |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105162470A (en) * | 2015-07-29 | 2015-12-16 | 中工科安科技有限公司 | Encoder signal digital secure transmission device and transmission method thereof |
| CN105162470B (en) * | 2015-07-29 | 2018-08-03 | 中工科安科技有限公司 | A kind of code device signal digital safety transmitting device |
| CN112776344A (en) * | 2020-12-31 | 2021-05-11 | 天津镭明激光科技有限公司 | Molding shaft double-drive structure debugging control system of additive manufacturing equipment and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN103925350B (en) | 2016-11-23 |
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Granted publication date: 20161123 Termination date: 20170419 |